Industrial robot unstacker based on 3D machine vision guidance

Abstract

The utility model relates to the technical field of industrial robots, and discloses an industrial robot unstacker based on 3D machine vision guidance, which comprises an equipment frame, the bottom of the equipment frame is in transmission connection with a clamping jaw, three driven wheels are arranged in the equipment frame, a transmission device is arranged in the equipment frame, and the clamping jaw is in transmission connection with the equipment frame. The output end of the transmission device is in transmission connection with a driving wheel, and the three driven wheels and the driving wheel are distributed in a rectangular array mode. The industrial robot unstacker based on 3D machine vision guidance has the advantages of being convenient to use, high in safety and the like, and solves the problems that most of existing unstacker type industrial robots are manually operated, and when the unstacker robots are operated, due to the fact that clamping jaws of the unstacker robots are far away from operators, the visual dead angles of the unstacker robots are large, and the working efficiency is high. The problems that in the prior art, when an object is clamped, an observer needs to repeatedly observe the position to conduct visual guidance, then clamping is conducted, operation is very inconvenient, the observer is prone to being hurt when clamping errors occur, and safety is poor are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, in particular to an industrial robot depalletizer based on 3D machine vision guidance. Background Art

[0002] Industrial robots are multi-jointed manipulators or multi-degree-of-freedom machines widely used in industry. They possess a degree of autonomy and can perform various industrial processing and manufacturing functions through their own power and control capabilities. They are widely used in various industries, including electronics, logistics, and chemicals.

[0003] Most of the existing depalletizer-type industrial robots are still manually operated. When operating a depalletizer robot, since its gripper is far away from the operator, its visual blind spot is large. When clamping objects, it is necessary to cooperate with an observer to repeatedly observe the position for visual guidance before clamping. The operation is very inconvenient, and it is easy to injure the observer in the event of a clamping error. The safety is poor. Therefore, an industrial robot depalletizer based on 3D machine vision guidance is proposed to solve the above-mentioned problems. Utility Model Content

[0004] (1) Technical problems solved

[0005] In response to the shortcomings of the existing technology, the utility model provides an industrial robot depalletizer based on 3D machine vision guidance, which has the advantages of being easy to use and highly safe. It solves the problem that most existing depalletizer-type industrial robots are still manually operated. When operating the depalletizer robot, since its grippers are far away from the operator, its visual blind spot is large. When clamping objects, it is necessary to cooperate with the observer to repeatedly observe the position for visual guidance and then clamp them. The operation is very inconvenient, and it is easy to injure the observer in the event of a clamping error, resulting in poor safety.

[0006] (2) Technical solution

[0007] The technical solution of the utility model for solving the above technical problems is as follows: an industrial robot depalletizer based on 3D machine vision guidance, comprising an equipment frame, the bottom of the equipment frame is connected to a clamping claw for transmission, three driven wheels are arranged inside the equipment frame, a transmission device is arranged inside the equipment frame, the output end of the transmission device is connected to the driving wheel for transmission, the three driven wheels are distributed in a rectangular array with the driving wheel, the outer sides of the three driven wheels and the driving wheel are connected to the same belt for transmission, the inside of the belt is plugged with a mounting frame connected to the top of the equipment frame for sliding, the left side of the mounting frame is fixedly connected to a 3D vision camera, and the bottoms of the three driven wheels are provided with a tensioning mechanism located inside the equipment frame.

[0008] The beneficial effect of the utility model is that the driving wheel is driven to rotate by the transmission device, and the driving wheel can drive the belt to rotate around the equipment frame through the driven wheel, so that the 3D vision camera follows the rotation of the belt through the mounting frame and adjusts the angle around the equipment frame, so that it can observe the working status of the clamping area without blind spots.

[0009] This industrial robot depalletizer based on 3D machine vision guidance has the advantages of being easy to use and highly safe.

[0010] On the basis of the above technical solution, the present invention can also be improved as follows.

[0011] Furthermore, a driving mechanism for driving the clamping claws is provided inside the equipment rack, and a lift is fixedly connected to the top of the equipment rack.

[0012] The beneficial effect of adopting the above further solution is that the driving mechanism and the elevator are both existing industrial robot transmission mechanisms with relatively mature clamping and lifting capabilities.

[0013] Furthermore, the three driven wheels and the driving wheel are all toothed pulleys, the belt is a hard toothed belt, and the top of the equipment frame is provided with an annular slide groove adapted to the mounting frame.

[0014] The beneficial effect of adopting the above further solution is that the belt with the toothed grooves is less likely to slip and the transmission is more precise.

[0015] Furthermore, the transmission device includes a motor, which is fixedly connected to the inside of the equipment frame. The output end of the motor and the bottom of the driving wheel are fixedly connected to first helical gears that are symmetrically distributed on the left and right. The opposite sides of the two first helical gears are engaged with second helical gears that are symmetrically distributed on the left and right. The opposite sides of the two second helical gears are fixedly connected to the same wheel axle that is rotatably connected to the inside of the equipment frame.

[0016] The beneficial effect of adopting the above further solution is that the symmetrically arranged first helical gear and the second helical gear can maintain synchronization when outputting the transmission ratio, and can better control the moving position of the 3D vision camera.

[0017] Furthermore, the mounting frame includes a connecting block, the bottom of the connecting block is fixedly connected to a plug rod, the plug rod is inserted into the inside of the belt, the right side of the connecting block is fixedly connected to a connecting plate, the bottom of the connecting plate is fixedly connected to a slider that is slidably connected to the inside of the annular slide groove, the bottom of the slider is rollingly connected to a ball bearing, the 3D vision camera is fixedly connected to the left side of the connecting plate, and the 3D vision camera is rotatably set, and reinforcing ribs are set between the connecting plate and the connecting block.

[0018] The beneficial effect of adopting the above further solution is that the slider and the annular groove cooperate with each other, which can exert a certain pulling force on the connecting plate and prevent the 3D vision camera from tilting when moving.

[0019] Furthermore, the tensioning mechanism includes a sliding rod, which is fixedly connected to the inside of the equipment frame, and a mounting block is slidably connected to the outside of the sliding rod. The top of the mounting block is fixedly connected to a fixed shaft that is slidably connected to the top wall of the inner cavity of the equipment frame, and the driven wheel is rotatably connected to the outside of the fixed shaft. A spring located on the outside of the sliding rod is provided between the mounting block and the equipment frame.

[0020] The beneficial effect of adopting the above further solution is that the tensioning mechanism can compensate for the gap of the belt and prevent it from slipping during the transmission process. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the structure of the utility model;

[0022] Figure 2 This is a front view of the connection structure between the belt, the driving pulley and the driven pulley of the utility model;

[0023] Figure 3 This is an enlarged view of the structure of point A of the utility model;

[0024] Figure 4 This is a partial enlarged view of the connection structure between the tensioning mechanism and the driven wheel of the utility model.

[0025] In the figure: 1. Equipment frame; 2. Clamp; 3. Driven wheel; 4. Transmission device; 401. Motor; 402. First bevel gear; 403. Second bevel gear; 404. Axle; 5. Driving wheel; 6. Belt; 7. Mounting frame; 701. Connecting block; 702. Insert rod; 703. Connecting plate; 704. Slider; 705. Ball bearing; 8. 3D vision camera; 9. Tensioning mechanism; 901. Sliding rod; 902. Mounting block; 903. Fixed shaft; 904. Spring; 10. Driving mechanism; 11. Elevator; 12. Annular slide. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0027] In the embodiment, Figure 1-4An industrial robot depalletizer based on 3D machine vision guidance is given. The utility model includes an equipment frame 1, the bottom of the equipment frame 1 is connected to a clamping claw 2, three driven wheels 3 are arranged inside the equipment frame 1, a transmission device 4 is arranged inside the equipment frame 1, the output end of the transmission device 4 is connected to a driving wheel 5, the three driven wheels 3 and the driving wheel 5 are distributed in a rectangular array, the three driven wheels 3 and the outer sides of the driving wheel 5 are connected to the same belt 6, the inside of the belt 6 is plugged with a mounting frame 7 that is slidably connected to the top of the equipment frame 1, the left side of the mounting frame 7 is fixedly connected to a 3D vision camera 8, and the bottom of the three driven wheels 3 is provided with a tensioning mechanism 9 located inside the equipment frame 1;

[0028] A driving mechanism 10 for driving the clamping jaws 2 is also provided inside the equipment rack 1, and a lift 11 is fixedly connected to the top of the equipment rack 1;

[0029] The driving mechanism 10 and the lift 11 are both existing industrial robot transmission mechanisms with relatively mature clamping and lifting capabilities;

[0030] The three driven wheels 3 and the driving wheel 5 are all toothed pulleys, the belt 6 is a hard toothed belt, and the top of the equipment frame 1 is provided with an annular slide groove 12 adapted to the mounting frame 7;

[0031] The belt 6 with teeth is not easy to slip, and the transmission is more accurate;

[0032] The transmission device 4 includes a motor 401, which is fixedly connected to the inside of the equipment frame 1. The output end of the motor 401 and the bottom of the driving wheel 5 are fixedly connected to first helical gears 402 that are symmetrically distributed on the left and right. The opposite sides of the two first helical gears 402 are meshed with second helical gears 403 that are symmetrically distributed on the left and right. The opposite sides of the two second helical gears 403 are fixedly connected to the same wheel shaft 404 that is rotatably connected to the inside of the equipment frame 1.

[0033] The symmetrically arranged first bevel gear 402 and second bevel gear 403 can maintain synchronization when outputting the transmission ratio, and can better control the moving position of the 3D vision camera 8;

[0034] The mounting frame 7 includes a connecting block 701, the bottom of which is fixedly connected to a plug rod 702, which is inserted into the inside of the belt 6, a connecting plate 703 is fixedly connected to the right side of the connecting block 701, a slider 704 is fixedly connected to the bottom of the connecting plate 703 and is slidably connected to the inside of the annular slide groove 12, and a ball bearing 705 is rollingly connected to the bottom of the slider 704, the 3D vision camera 8 is fixedly connected to the left side of the connecting plate 703, and the 3D vision camera 8 is rotatably arranged, and a reinforcing rib is provided between the connecting plate 703 and the connecting block 701;

[0035] The slider 704 cooperates with the annular slide groove 12 to exert a certain pulling force on the connecting plate 703, thereby preventing the 3D vision camera 8 from tilting when moving;

[0036] The tensioning mechanism 9 includes a slide bar 901, which is fixedly connected to the inside of the equipment rack 1. A mounting block 902 is slidably connected to the outside of the slide bar 901. The top of the mounting block 902 is fixedly connected to a fixed shaft 903 that is slidably connected to the top wall of the inner cavity of the equipment rack 1. The driven wheel 3 is rotatably connected to the outside of the fixed shaft 903. A spring 904 is provided on the outside of the slide bar 901 between the mounting block 902 and the equipment rack 1.

[0037] The tensioning mechanism 9 can compensate for the gap of the belt 6 to prevent it from slipping during the transmission process.

[0038] Working principle:

[0039] Step 1: Start the motor 401. The motor 401 drives the driving wheel 5 to rotate through the gear transmission of the first bevel gear 402, the second bevel gear 403 and the wheel shaft 404, so that the driving wheel 5 can drive the belt 6 to perform an annular transmission through the driven wheel 3;

[0040] Step 2: During the movement of the belt 6, the connecting block 701 is driven to move by the insertion rod 702. The connecting block 701 can drive the 3D visual camera 8 to observe the clamping status of the clamping claw 2 around the equipment rack 1. When the angle is suitable for clamping and unstacking, the driving mechanism 10 drives the clamping claw 2 to perform the unstacking operation;

[0041] Step 3: During the movement of the connecting block 701, the connecting plate 703 drives the slider 704 to slide in the annular groove 12, so that the connecting plate 703 can provide tension to the connecting block 701 to prevent the belt 6 from being overstressed and skewed. At the same time, during the movement of the belt 6, the spring 904 pushes the mounting block 902 to slide on the outside of the slide rod 901, so that the fixed shaft 903 can drive the driven wheel 3 to compensate for the gap between the belt 6 and the driven wheel 3, so that the belt 6 will not slip.

[0042] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0043] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An industrial robot depalletizer based on 3D machine vision guidance, comprising an equipment frame (1), characterized in that: The bottom of the equipment frame (1) is connected to a clamping claw (2), three driven wheels (3) are arranged inside the equipment frame (1), a transmission device (4) is arranged inside the equipment frame (1), the output end of the transmission device (4) is connected to a driving wheel (5), the three driven wheels (3) and the driving wheel (5) are distributed in a rectangular array, the outer sides of the three driven wheels (3) and the driving wheel (5) are connected to the same belt (6), the inside of the belt (6) is plugged with a mounting frame (7) connected to the top of the equipment frame (1) in a sliding manner, the left side of the mounting frame (7) is fixedly connected to a 3D visual camera (8), and the bottom of the three driven wheels (3) is provided with a tensioning mechanism (9) located inside the equipment frame (1).

2. The industrial robot depalletizer based on 3D machine vision guidance according to claim 1, characterized in that: A driving mechanism (10) for driving the clamping claw (2) is also provided inside the equipment rack (1), and a lift (11) is fixedly connected to the top of the equipment rack (1).

3. The industrial robot depalletizer based on 3D machine vision guidance according to claim 1, characterized in that: The three driven wheels (3) and the driving wheel (5) are all toothed pulleys, the belt (6) is a hard toothed belt, and the top of the equipment frame (1) is provided with an annular sliding groove (12) adapted to the mounting frame (7).

4. The industrial robot depalletizer based on 3D machine vision guidance according to claim 1, characterized in that: The transmission device (4) includes a motor (401), the motor (401) is fixedly connected to the inside of the equipment frame (1), the output end of the motor (401) and the bottom of the driving wheel (5) are fixedly connected to first helical gears (402) that are symmetrically distributed on the left and right, the opposite sides of the two first helical gears (402) are meshed with second helical gears (403) that are symmetrically distributed on the left and right, and the opposite sides of the two second helical gears (403) are fixedly connected to the same wheel shaft (404) that is rotatably connected to the inside of the equipment frame (1).

5. The industrial robot depalletizer based on 3D machine vision guidance according to claim 2, characterized in that: The mounting frame (7) includes a connecting block (701), the bottom of the connecting block (701) is fixedly connected to a plug rod (702), the plug rod (702) is inserted into the inside of the belt (6), the right side of the connecting block (701) is fixedly connected to a connecting plate (703), the bottom of the connecting plate (703) is fixedly connected to a slider (704) that is slidably connected to the inside of the annular slide groove (12), the bottom of the slider (704) is rollingly connected to a ball (705), the 3D vision camera (8) is fixedly connected to the left side of the connecting plate (703), and the 3D vision camera (8) is rotatably arranged, and a reinforcing rib is arranged between the connecting plate (703) and the connecting block (701).

6. The industrial robot depalletizer based on 3D machine vision guidance according to claim 1, characterized in that: The tensioning mechanism (9) includes a slide bar (901), the slide bar (901) is fixedly connected to the inside of the equipment rack (1), the outside of the slide bar (901) is slidably connected to a mounting block (902), the top of the mounting block (902) is fixedly connected to a fixed shaft (903) slidably connected to the top wall of the inner cavity of the equipment rack (1), the driven wheel (3) is rotatably connected to the outside of the fixed shaft (903), and a spring (904) located outside the slide bar (901) is provided between the mounting block (902) and the equipment rack (1).

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